Kinematics and Dynamics of Machinery SOLUTION MANUAL 2-56-1

PROBLEM 2-56
Statement: For the example linkage shown in Figure 2-4 find the number of links and their respective link
orders, the number of joints and their respective orders, and the mobility of the linkage.
Solution: See Figure 2-4 and Mathcad file P0256.
1. Label the link numbers and joint letters for Figure 2-4 example.

1 K
9
8
I J
G
7 6
H D
1
4
3 E
B C
A 2
1
1 5
F
1

2. Using the link numbers, describe each link as binary, ternary, etc.

Link No. Link Order Link No. Link Order

1 5 nodes
2 Binary
3 Ternary
4 Binary
5 Binary
6 Ternary
7 Binary
8 Binary
9 Binary

3. Using the joint letters, determine each joint's order and whether each is a half or full joint.

Joint Letter Joint Order Half/Full Joint Classification

A 1 Full Grounded rotating joint
B 1 Half Moving sliding joint
C 1 Full Grounded rotating joint
D 2 Full Moving rotating joint
E 1 Full Moving translating joint
F 1 Full Grounded rotating joint
G 1 Full Moving rotating joint
H 1 Full Grounded rotating joint
I 1 Full Moving rotating joint
J 1 Full Moving rotating joint
K 1 Full Grounded translating joint

4. Use equation 2.1c to calculate the DOF (mobility).

Kutzbach's mobility equation (2.1c)
Number of links L
9 Number of full joints J1 
11 Number of half joints J2 
1
M
 3
( L 1) 2 
J1 J 2 M 1